chore: make rubocop pass

Author: doudou

.rubocop.yml

@@ -1,11 +1,34 @@
 inherit_gem:
   rubocop-rock: defaults.yml
 
+inherit_from: .rubocop_todo.yml
+
 inherit_mode:
   merge:
   - Exclude
   - AllowedNames
 
 AllCops:
   TargetRubyVersion: "2.7"
+  NewCops: enable
+
+Naming/MethodName:
+  AllowedPatterns:
+  - UnitX
+  - Identity
+  - Zero
+  - UnitY
+  - UnitZ
+  - Unset
+
+Security/MarshalLoad:
+  Enabled: false
+
+Naming/MethodParameterName:
+  AllowedNames:
+  - v
+  - q
+  - m
 
+Lint/AmbiguousOperatorPrecedence:
+  Enabled: false

.rubocop_todo.yml

@@ -0,0 +1,9 @@
+Style/OptionalBooleanParameter:
+  Enabled: false
+Metrics/AbcSize:
+  Enabled: false
+Metrics/CyclomaticComplexity:
+  Enabled: false
+Metrics/PerceivedComplexity:
+  Enabled: false
+

Gemfile

@@ -1,4 +1,12 @@
-source 'https://rubygems.org'
+# frozen_string_literal: true
+
+source "https://rubygems.org"
 
 # Specify your gem's dependencies in eigen.gemspec
 gemspec
+
+gem "bundler", "~> 1.12"
+gem "minitest", ">= 5.0"
+gem "rake", ">= 10.0"
+gem "rake-compiler"
+gem "rice", "~> 3.0", ">= 3.0.0"

Rakefile

@@ -1,18 +1,20 @@
+# frozen_string_literal: true
+
 require "bundler/gem_tasks"
 require "rake/testtask"
 
 Rake::TestTask.new(:test) do |t|
-  t.libs << "test"
-  t.libs << "lib"
-  t.test_files = FileList['test/**/*_test.rb']
+    t.libs << "test"
+    t.libs << "lib"
+    t.test_files = FileList["test/**/*_test.rb"]
 end
 
 require "rake/extensiontask"
 
-task :build => :compile
+task build: :compile
 
 Rake::ExtensionTask.new("eigen") do |ext|
-  ext.lib_dir = "lib/eigen"
+    ext.lib_dir = "lib/eigen"
 end
 
-task :default => :compile
+task default: :compile

bin/console

@@ -1,4 +1,5 @@
 #!/usr/bin/env ruby
+# frozen_string_literal: true
 
 require "bundler/setup"
 require "eigen"

eigen.gemspec

@@ -1,27 +1,27 @@
-# coding: utf-8
-lib = File.expand_path('../lib', __FILE__)
+# frozen_string_literal: true
+
+lib = File.expand_path("lib", __dir__)
 $LOAD_PATH.unshift(lib) unless $LOAD_PATH.include?(lib)
-require 'eigen/version'
+require "eigen/version"
 
 Gem::Specification.new do |spec|
-  spec.name          = "eigen"
-  spec.version       = Eigen::VERSION
-  spec.authors       = ["Sylvain Joyeux"]
-  spec.email         = ["[email protected]"]
+    spec.name = "rock-eigen"
+    spec.version = Eigen::VERSION
+    spec.authors = ["Sylvain Joyeux"]
+    spec.email = ["[email protected]"]
 
-  spec.summary       = %q{Ruby bindings to the Eigen C++ linear algebra library}
-  spec.homepage      = "https://github.com/rock-core/base-ruby_eigen"
-  spec.license       = "MIT"
+    spec.summary = "Rice-based Ruby bindings to the Eigen C++ linear algebra library"
+    spec.homepage = "https://github.com/rock-core/base-ruby_eigen"
+    spec.license = "MIT"
+    spec.required_ruby_version = "> 2.7"
 
-  spec.files         = `git ls-files -z`.split("\x0").reject { |f| f.match(%r{^(test|spec|features)/}) }
-  spec.bindir        = "exe"
-  spec.executables   = spec.files.grep(%r{^exe/}) { |f| File.basename(f) }
-  spec.require_paths = ["lib"]
-  spec.extensions    = ["ext/eigen/extconf.rb"]
+    spec.files = `git ls-files -z`.split("\x0").reject do |f|
+        f.match(%r{^(test|spec|features)/})
+    end
+    spec.bindir = "exe"
+    spec.executables = spec.files.grep(%r{^exe/}) { |f| File.basename(f) }
+    spec.require_paths = ["lib"]
+    spec.extensions = ["ext/eigen/extconf.rb"]
 
-  spec.add_development_dependency 'rice', '~> 2.1', '>= 2.1.0'
-  spec.add_development_dependency "bundler", "~> 1.12"
-  spec.add_development_dependency "rake", "~> 10.0"
-  spec.add_development_dependency "rake-compiler"
-  spec.add_development_dependency "minitest", "~> 5.0"
+    spec.metadata["rubygems_mfa_required"] = "true"
 end

ext/eigen/extconf.rb

@@ -1,10 +1,13 @@
+# frozen_string_literal: true
+
 require "mkmf-rice"
 
-RbConfig::CONFIG['CXXFLAGS'].gsub! "-Wdeclaration-after-statement", ''
-RbConfig::CONFIG['CXXFLAGS'].gsub! "-Wimplicit-function-declaration", ''
+RbConfig::CONFIG["CXXFLAGS"].gsub! "-Wdeclaration-after-statement", ""
+RbConfig::CONFIG["CXXFLAGS"].gsub! "-Wimplicit-function-declaration", ""
 
-if !pkg_config('eigen3')
-    raise "cannot find the eigen3 pkg-config package in #{ENV['PKG_CONFIG_PATH']}"
+unless pkg_config("eigen3")
+    raise "cannot find the eigen3 pkg-config package in #{ENV.fetch('PKG_CONFIG_PATH',
+                                                                    nil)}"
 end
 
 create_makefile("eigen/eigen")

lib/eigen.rb

@@ -1,15 +1,17 @@
+# frozen_string_literal: true
+
 # Ruby bindings for the Eigen C++ linear algebra library
 module Eigen
 end
 
-require 'eigen/eigen'
+require "eigen/eigen"
 
-require 'eigen/affine3'
-require 'eigen/angle_axis'
-require 'eigen/isometry3'
-require 'eigen/matrix4'
-require 'eigen/matrixx'
-require 'eigen/quaternion'
-require 'eigen/vector3'
-require 'eigen/vectorx'
-require 'eigen/version'
+require "eigen/affine3"
+require "eigen/angle_axis"
+require "eigen/isometry3"
+require "eigen/matrix4"
+require "eigen/matrixx"
+require "eigen/quaternion"
+require "eigen/vector3"
+require "eigen/vectorx"
+require "eigen/version"

lib/eigen/affine3.rb

@@ -1,30 +1,33 @@
+# frozen_string_literal: true
+
 module Eigen
+    # Representation of a 3D affine transform
     class Affine3
         def self.Identity
             Affine3.new
         end
 
-        def self.from_position_orientation( v, q )
+        def self.from_position_orientation(v, q)
             i = Affine3.Identity
-            i.prerotate( q )
-            i.pretranslate( v )
+            i.prerotate(q)
+            i.pretranslate(v)
             i
         end
 
         def dup
             raise NotImplementedError
         end
 
-        def ==(q)
-            q.kind_of?(self.class) &&
-                __equal__(q)
+        def ==(other)
+            other.kind_of?(self.class) &&
+                __equal__(other)
         end
 
-        def *(obj)
-            if obj.kind_of?(Affine3)
-                concatenate(obj)
+        def *(other)
+            if other.kind_of?(Affine3)
+                concatenate(other)
             else
-                transform(obj)
+                transform(other)
             end
         end
 

lib/eigen/angle_axis.rb

@@ -1,3 +1,5 @@
+# frozen_string_literal: true
+
 module Eigen
     # Representation and manipulation of an angle axis
     class AngleAxis
@@ -6,11 +8,13 @@ def dup
         end
 
         # Returns the angle axis as [angle, x, y, z]
-        def to_a; [angle, axis.to_a] end
+        def to_a
+            [angle, axis.to_a]
+        end
 
-        def from_a (array)
-            aa = AngleAxis.new(array[0], Eigen::Vector3.new(array[1][0], array[1][1], array[1][2]))
-            aa
+        def from_a(array)
+            AngleAxis.new(array[0],
+                          Eigen::Vector3.new(array[1][0], array[1][1], array[1][2]))
         end
 
         # Returns the identity unit quaternion (identity rotation)
@@ -46,20 +50,20 @@ def self.from_matrix(m)
         #
         # @param [Float] eps see {#to_angle_axis}
         # @return [Vector3]
-        def to_scaled_axis(eps = 1e-12)
-            return axis * angle
+        def to_scaled_axis(_eps = 1e-12)
+            axis * angle
         end
 
         # Concatenates with another angle axis or transforms a vector
-        def *(obj)
-            if obj.kind_of?(AngleAxis)
-                concatenate(obj)
+        def *(other)
+            if other.kind_of?(AngleAxis)
+                concatenate(other)
             else
-                transform(obj)
+                transform(other)
             end
         end
 
-        def _dump(level) # :nodoc:
+        def _dump(_level) # :nodoc:
             Marshal.dump(to_a)
         end
 
@@ -81,10 +85,9 @@ def to_s # :nodoc:
         #   (v - other_v).norm < threshold
         #
         # instead
-        def ==(q)
-            q.kind_of?(self.class) &&
-                __equal__(q)
+        def ==(other)
+            other.kind_of?(self.class) &&
+                __equal__(other)
         end
     end
 end
-

lib/eigen/isometry3.rb

@@ -1,30 +1,33 @@
+# frozen_string_literal: true
+
 module Eigen
+    # Representatiion of a 3D isometry
     class Isometry3
         def self.Identity
             Isometry3.new
         end
 
-        def self.from_position_orientation( v, q )
+        def self.from_position_orientation(v, q)
             i = Isometry3.Identity
-            i.prerotate( q )
-            i.pretranslate( v )
+            i.prerotate(q)
+            i.pretranslate(v)
             i
         end
 
         def dup
             raise NotImplementedError
         end
 
-        def ==(q)
-            q.kind_of?(self.class) &&
-                __equal__(q)
+        def ==(other)
+            other.kind_of?(self.class) &&
+                __equal__(other)
         end
 
-        def *(obj)
-            if obj.kind_of?(Isometry3)
-                concatenate(obj)
+        def *(other)
+            if other.kind_of?(Isometry3)
+                concatenate(other)
             else
-                transform(obj)
+                transform(other)
             end
         end
 
@@ -33,4 +36,3 @@ def to_s
         end
     end
 end
-